EE 361: Control Systems

Spring 2019
Project Proposal

Balancing on two wheels

Huma Sanaullah, BSEE16013

Mahnoor Malik, BSEE16022
Syed Wajih ul Hassan, BSEE16054
Abstract
The goal of this project is to build a two wheel balancing hardware setup. We will
design a controller that would control the rotation of two wheels to balance the robot.
These types of robots can be based on the physical problem of an inverted
pendulum. The system requires active control in order to be stable. Using open source
microcontroller Arduino Uno and reliable angular and positional data the system can be made
stable by implementing a controller

Block Diagram
Hardware Setup

 The micro controller board used in this project is the Arduino Uno running on the
ATmega328. The board is used for rapid prototyping of interactive applications
through sensors monitoring the outside world.
 Some measurement unit is needed to determine the angle deviation, ψ and the angular
velocity ψ˙. The gyro can sense the angle velocity in three directions and the
accelerometer senses angular.
 Two DC-motors were assigned for this project. The motors are
equipped with motor driver.
 Our structure will be stable enough to endure fast rotation of the beam
 Strong enough to support the weight of all the components
 Lightweight enough so that the response is not too slow
 Dc motor will rotate the wheels and balance the robot
 An appropriate battery will be used.

Mathematical model
State space Model
References

1. https://kth.diva-portal.org/smash/get/diva2:916184/FULLTEXT01.pdf Design and control based

on the concept of an inverted pendulum by HELLMAN, HANNA SUNNERMAN,
HENRIK. Bachelor’s Thesis in Mechatronics.
2. MODELING OF TWO-WHEELED SELF-BALANCING ROBOT DRIVEN BY DC
GEARMOTORS P. FRANKOVSKÝ, L. DOMINIK, A. GMITERKO, I. VIRGALA
Department of Mechatronics, Faculty of Mechanical Engineering Technical University of
Košice
3. O. Jamil, M. Jamil, Y. Ayaz and K. Ahmad, "Modeling, control of a two-wheeled self-
balancing robot," 2014 International Conference on Robotics and Emerging Allied
Technologies in Engineering (iCREATE), Islamabad, 2014, pp. 191-199.
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6828364&isnum
ber=6828323